相关论文: LCPFormer: Towards Effective 3D Point Cloud Analys…

Transformer-based networks have achieved impressive performance in 3D point cloud understanding. However, most of them concentrate on aggregating local features, but neglect to directly model global dependencies, which results in a limited…

Temporal convolutions have been the paradigm of choice in action segmentation, which enhances long-term receptive fields by increasing convolution layers. However, high layers cause the loss of local information necessary for frame…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Applying traditional post-hoc attribution methods to segmentation or object detection predictors offers only limited insights, as the obtained feature attribution maps at input level typically resemble the models' predicted segmentation…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Learning discriminative shape representation directly on point clouds is still challenging in 3D shape analysis and understanding. Recent studies usually involve three steps: first splitting a point cloud into some local regions, then…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. In this method, a feature constraint mechanism called Local Plane Features Constraint (LPFC) is used and then a multi-scale selection strategy is…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

Transformer, as an alternative to CNN, has been proven effective in many modalities (e.g., texts and images). For 3D point cloud transformers, existing efforts focus primarily on pushing their accuracy to the state-of-the-art level.…

Collaborative perception enables more accurate and comprehensive scene understanding by learning how to share information between agents, with LiDAR point clouds providing essential precise spatial data. Due to the substantial data volume…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

Transformer-based deep neural networks have achieved remarkable success across various computer vision tasks, largely attributed to their long-range self-attention mechanism and scalability. However, most transformer architectures embed…

Depth information matters in RGB-D semantic segmentation task for providing additional geometric information to color images. Most existing methods exploit a multi-stage fusion strategy to propagate depth feature to the RGB branch. However,…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…